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<a href="collision__solver__default_8cc.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">//*  Author: Vitaliy Rusinov</span></div><div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;</div><div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="collision__solver__fcl_8h.html">collision/solvers/collision_solver_fcl.h</a>&quot;</span></div><div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="collision__solver__primitive_8h.html">collision/solvers/collision_solver_primitive.h</a>&quot;</span></div><div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="collision__solvers_8h.html">collision/solvers/collision_solvers.h</a>&quot;</span></div><div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="time__variant__collision__object_8h.html">collision/time_variant_collision_object.h</a>&quot;</span></div><div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;</div><div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="keyword">namespace </span><a class="code" href="namespacecollision.html">collision</a> {</div><div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="keyword">namespace </span>solvers {</div><div class="line"><a name="l00010"></a><span class="lineno"><a class="line" href="namespacecollision_1_1solvers_1_1solver_default.html">   10</a></span>&#160;<span class="keyword">namespace </span>solverDefault {</div><div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;</div><div class="line"><a name="l00012"></a><span class="lineno"><a class="line" href="namespacecollision_1_1solvers_1_1solver_default.html#aa9999089e2a0ac19cb17d85d8d148f72">   12</a></span>&#160;std::size_t <a class="code" href="namespacecollision_1_1solvers_1_1solver_default.html#aa9999089e2a0ac19cb17d85d8d148f72">collide_tvobst_obj</a>(<span class="keyword">const</span> <a class="code" href="classcollision_1_1_collision_object.html">CollisionObject</a> &amp;obj1,</div><div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;                               <span class="keyword">const</span> <a class="code" href="classcollision_1_1_collision_object.html">CollisionObject</a> &amp;obj2,</div><div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;                               <a class="code" href="classcollision_1_1_collision_result.html">CollisionResult</a> &amp;res,</div><div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;                               <span class="keyword">const</span> <a class="code" href="classcollision_1_1_collision_request.html">CollisionRequest</a> &amp;req) {</div><div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;  <span class="keyword">static</span> <a class="code" href="classcollision_1_1solvers_1_1_default_solver.html">solvers::DefaultSolver</a> solver;</div><div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;  <span class="keyword">static</span> <a class="code" href="classcollision_1_1solvers_1_1_collision_function_matrix.html">CollisionFunctionMatrix</a> matr_default(&amp;solver);</div><div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;  <span class="keyword">const</span> <a class="code" href="classcollision_1_1_time_variant_collision_object.html">TimeVariantCollisionObject</a> &amp;tvobst(</div><div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;      static_cast&lt;const TimeVariantCollisionObject &amp;&gt;(obj1));</div><div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;  <span class="keywordtype">int</span> time_idx_start = tvobst.<a class="code" href="classcollision_1_1_time_variant_collision_object.html#ae0db5a464e1ce21aa1131955e1bebc8e">time_start_idx</a>();</div><div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;  <span class="keywordtype">int</span> time_idx_end = tvobst.<a class="code" href="classcollision_1_1_time_variant_collision_object.html#ae14bb4f90bffb5804b389f27300c1c4f">time_end_idx</a>();</div><div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> cc1 = time_idx_start; cc1 &lt;= time_idx_end; cc1++) {</div><div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;    <a class="code" href="namespacecollision.html#a405f2c04407997fea529aad88f04ad30">CollisionObjectConstPtr</a> cur_obj = tvobst.<a class="code" href="classcollision_1_1_time_variant_collision_object.html#a2262622fbdf0596e4faba5fe344f2358">getObstacleAtTime</a>(cc1);</div><div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;</div><div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;    <span class="keywordflow">if</span> (!cur_obj.get()) {</div><div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;      <span class="keywordflow">continue</span>;</div><div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;    }</div><div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;</div><div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;    <span class="keywordflow">if</span> (cur_obj-&gt;getCollisionObjectClass() ==</div><div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;        <a class="code" href="namespacecollision.html#a6e97ae92656250cd1667b6a73100843fa423bdf5f1930e0fe19325bed802a3ff0">CollisionObjectClass::OBJ_CLASS_TVOBSTACLE</a>) {</div><div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;      <span class="keywordflow">return</span> -1;</div><div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;    }</div><div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;</div><div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;    <a class="code" href="namespacecollision_1_1solvers.html#aa45c277e8a95cc61fc35ec67b69c2e53">collide_bool_func_t</a> func = matr_default.<a class="code" href="classcollision_1_1solvers_1_1_collision_function_matrix.html#aed8a3913944cbf6eab6bdeb89eaa6bc5">getSolverBoolFunction</a>(</div><div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;        cur_obj-&gt;getCollisionObjectType(), obj2.<a class="code" href="classcollision_1_1_collision_object.html#a2bc867e40184d64561ceac3f2276f976">getCollisionObjectType</a>());</div><div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;    <span class="keywordflow">if</span> (!func) {</div><div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;      <span class="keywordflow">return</span> -1;</div><div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;    }</div><div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;    func(*cur_obj, obj2, res, req);</div><div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;    <span class="keywordflow">if</span> (res.<a class="code" href="classcollision_1_1_collision_result.html#acc22ba66fddc2dfb73d82257fcb30eae">collides</a>())</div><div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;      <span class="keywordflow">return</span> 0;</div><div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;  }</div><div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;  <span class="keywordflow">return</span> 0;</div><div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;}</div><div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;</div><div class="line"><a name="l00046"></a><span class="lineno"><a class="line" href="namespacecollision_1_1solvers_1_1solver_default.html#acffe33ce8406a118b7f99cf780ef78f9">   46</a></span>&#160;std::size_t <a class="code" href="namespacecollision_1_1solvers_1_1solver_default.html#acffe33ce8406a118b7f99cf780ef78f9">collide_obj_tvobst</a>(<span class="keyword">const</span> <a class="code" href="classcollision_1_1_collision_object.html">CollisionObject</a> &amp;obj1,</div><div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;                               <span class="keyword">const</span> <a class="code" href="classcollision_1_1_collision_object.html">CollisionObject</a> &amp;obj2,</div><div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;                               <a class="code" href="classcollision_1_1_collision_result.html">CollisionResult</a> &amp;res,</div><div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;                               <span class="keyword">const</span> <a class="code" href="classcollision_1_1_collision_request.html">CollisionRequest</a> &amp;req) {</div><div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;  <span class="keywordflow">return</span> <a class="code" href="namespacecollision_1_1solvers_1_1solver_default.html#aa9999089e2a0ac19cb17d85d8d148f72">collide_tvobst_obj</a>(obj2, obj1, res, req);</div><div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;}</div><div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;</div><div class="line"><a name="l00053"></a><span class="lineno"><a class="line" href="namespacecollision_1_1solvers_1_1solver_default.html#a85518edd1bba6e450f933822ae879ce5">   53</a></span>&#160;std::size_t <a class="code" href="namespacecollision_1_1solvers_1_1solver_default.html#a85518edd1bba6e450f933822ae879ce5">collide_tvobst_tvobst</a>(<span class="keyword">const</span> <a class="code" href="classcollision_1_1_collision_object.html">CollisionObject</a> &amp;obj1,</div><div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;                                  <span class="keyword">const</span> <a class="code" href="classcollision_1_1_collision_object.html">CollisionObject</a> &amp;obj2,</div><div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;                                  <a class="code" href="classcollision_1_1_collision_result.html">CollisionResult</a> &amp;res,</div><div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;                                  <span class="keyword">const</span> <a class="code" href="classcollision_1_1_collision_request.html">CollisionRequest</a> &amp;req) {</div><div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;  <span class="keyword">static</span> <a class="code" href="classcollision_1_1solvers_1_1_default_solver.html">solvers::DefaultSolver</a> solver;</div><div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;  <span class="keyword">static</span> <a class="code" href="classcollision_1_1solvers_1_1_collision_function_matrix.html">CollisionFunctionMatrix</a> matr_default(&amp;solver);</div><div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;  <span class="keyword">const</span> <a class="code" href="classcollision_1_1_time_variant_collision_object.html">TimeVariantCollisionObject</a> &amp;tvobst1(</div><div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;      static_cast&lt;const TimeVariantCollisionObject &amp;&gt;(obj1));</div><div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;  <span class="keyword">const</span> <a class="code" href="classcollision_1_1_time_variant_collision_object.html">TimeVariantCollisionObject</a> &amp;tvobst2(</div><div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;      static_cast&lt;const TimeVariantCollisionObject &amp;&gt;(obj2));</div><div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;  <span class="keywordtype">int</span> time_idx_start =</div><div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;      std::min(tvobst1.<a class="code" href="classcollision_1_1_time_variant_collision_object.html#ae0db5a464e1ce21aa1131955e1bebc8e">time_start_idx</a>(), tvobst2.<a class="code" href="classcollision_1_1_time_variant_collision_object.html#ae0db5a464e1ce21aa1131955e1bebc8e">time_start_idx</a>());</div><div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;  <span class="keywordtype">int</span> time_idx_end = std::max(tvobst1.<a class="code" href="classcollision_1_1_time_variant_collision_object.html#ae14bb4f90bffb5804b389f27300c1c4f">time_end_idx</a>(), tvobst2.<a class="code" href="classcollision_1_1_time_variant_collision_object.html#ae14bb4f90bffb5804b389f27300c1c4f">time_end_idx</a>());</div><div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;</div><div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> cc1 = time_idx_start; cc1 &lt;= time_idx_end; cc1++) {</div><div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;    <a class="code" href="namespacecollision.html#a405f2c04407997fea529aad88f04ad30">CollisionObjectConstPtr</a> obst_1 = tvobst1.<a class="code" href="classcollision_1_1_time_variant_collision_object.html#a2262622fbdf0596e4faba5fe344f2358">getObstacleAtTime</a>(cc1);</div><div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;    <a class="code" href="namespacecollision.html#a405f2c04407997fea529aad88f04ad30">CollisionObjectConstPtr</a> obst_2 = tvobst2.<a class="code" href="classcollision_1_1_time_variant_collision_object.html#a2262622fbdf0596e4faba5fe344f2358">getObstacleAtTime</a>(cc1);</div><div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;</div><div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;    <span class="keywordflow">if</span> (!obst_1.get() || !obst_2.get()) {</div><div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;      <span class="keywordflow">continue</span>;</div><div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;    }</div><div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;    <span class="keywordflow">if</span> (obst_1-&gt;getCollisionObjectClass() == <a class="code" href="namespacecollision.html#a6e97ae92656250cd1667b6a73100843fa423bdf5f1930e0fe19325bed802a3ff0">OBJ_CLASS_TVOBSTACLE</a> ||</div><div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;        obst_2-&gt;getCollisionObjectClass() == <a class="code" href="namespacecollision.html#a6e97ae92656250cd1667b6a73100843fa423bdf5f1930e0fe19325bed802a3ff0">OBJ_CLASS_TVOBSTACLE</a>) {</div><div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;      <span class="keywordflow">return</span> -1;</div><div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;    }</div><div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;</div><div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;    <a class="code" href="namespacecollision_1_1solvers.html#aa45c277e8a95cc61fc35ec67b69c2e53">collide_bool_func_t</a> func = matr_default.<a class="code" href="classcollision_1_1solvers_1_1_collision_function_matrix.html#aed8a3913944cbf6eab6bdeb89eaa6bc5">getSolverBoolFunction</a>(</div><div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;        obst_1-&gt;getCollisionObjectType(), obst_2-&gt;getCollisionObjectType());</div><div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;    <span class="keywordflow">if</span> (!func) {</div><div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;      <span class="keywordflow">return</span> -1;</div><div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;    }</div><div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;    func(*obst_1, *obst_2, res, req);</div><div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;    <span class="keywordflow">if</span> (res.<a class="code" href="classcollision_1_1_collision_result.html#acc22ba66fddc2dfb73d82257fcb30eae">collides</a>())</div><div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;      <span class="keywordflow">return</span> 0;</div><div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;  }</div><div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;  <span class="keywordflow">return</span> 0;</div><div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;}</div><div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;} <span class="comment">// namespace solverDefault</span></div><div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;</div><div class="line"><a name="l00092"></a><span class="lineno"><a class="line" href="classcollision_1_1solvers_1_1_collision_function_matrix.html#a432a11e7f5bcdaaa3bb37dde0db7f8d4">   92</a></span>&#160;<a class="code" href="classcollision_1_1solvers_1_1_collision_function_matrix.html#a93f619cd9ff12c4c4adaddb6712db248">CollisionFunctionMatrix::CollisionFunctionMatrix</a>(</div><div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;    <span class="keyword">const</span> <a class="code" href="classcollision_1_1solvers_1_1_default_solver.html">solvers::DefaultSolver</a> *solver) {</div><div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;  memset(m_collide_bool_function, 0,</div><div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;         <a class="code" href="namespacecollision.html#a9978c0f3203bb70d6676394a4547bc72">COL_OBJECT_TYPES_COUNT</a> * <a class="code" href="namespacecollision.html#a9978c0f3203bb70d6676394a4547bc72">COL_OBJECT_TYPES_COUNT</a>);</div><div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;  m_collide_bool_function[<a class="code" href="namespacecollision.html#a450ba6ce42e02aa75e1a94fcbddae149a936019eb52955ff805c334940d9bcd2a">OBJ_TYPE_AABB_BOX</a>][<a class="code" href="namespacecollision.html#a450ba6ce42e02aa75e1a94fcbddae149a936019eb52955ff805c334940d9bcd2a">OBJ_TYPE_AABB_BOX</a>] =</div><div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160; 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     <a class="code" href="namespacecollision_1_1solvers_1_1solver_f_c_l.html#a6ec70f21c92f8e87e0efa365d9ccd93b">solvers::solverFCL::collide_obj_obj</a>;</div><div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;  m_collide_bool_function[<a class="code" href="namespacecollision.html#a450ba6ce42e02aa75e1a94fcbddae149a936019eb52955ff805c334940d9bcd2a">OBJ_TYPE_AABB_BOX</a>][<a class="code" href="namespacecollision.html#a450ba6ce42e02aa75e1a94fcbddae149a1dad22e6bed070f46485602bb316c3ba">OBJ_TYPE_TRIANGLE</a>] =</div><div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;      <a class="code" href="namespacecollision_1_1solvers_1_1solver_f_c_l.html#a6ec70f21c92f8e87e0efa365d9ccd93b">solvers::solverFCL::collide_obj_obj</a>;</div><div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;  m_collide_bool_function[<a class="code" href="namespacecollision.html#a450ba6ce42e02aa75e1a94fcbddae149a936019eb52955ff805c334940d9bcd2a">OBJ_TYPE_AABB_BOX</a>][<a class="code" href="namespacecollision.html#a450ba6ce42e02aa75e1a94fcbddae149a1d41d4535feebb1512930a79cf9c097a">OBJ_TYPE_POINT</a>] =</div><div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;      <a class="code" href="namespacecollision_1_1solvers_1_1solver_primitive.html#a694f6630aee81adcf46c9feae7fa54ef">solvers::solverPrimitive::collide_aabb_point</a>;</div><div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;  m_collide_bool_function[<a class="code" href="namespacecollision.html#a450ba6ce42e02aa75e1a94fcbddae149a936019eb52955ff805c334940d9bcd2a">OBJ_TYPE_AABB_BOX</a>][<a class="code" href="namespacecollision.html#a450ba6ce42e02aa75e1a94fcbddae149a3077eb48bb098e9e6961c790903c2759">OBJ_TYPE_POLYGON</a>] =</div><div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;      <a class="code" href="namespacecollision_1_1solvers_1_1solver_f_c_l.html#a6ec70f21c92f8e87e0efa365d9ccd93b">solvers::solverFCL::collide_obj_obj</a>;</div><div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;  m_collide_bool_function[<a class="code" href="namespacecollision.html#a450ba6ce42e02aa75e1a94fcbddae149a936019eb52955ff805c334940d9bcd2a">OBJ_TYPE_AABB_BOX</a>][<a class="code" href="namespacecollision.html#a450ba6ce42e02aa75e1a94fcbddae149a40b6ff42a2e8947664fc0f2d94f030d7">OBJ_TYPE_SHAPEGROUP</a>] =</div><div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;      <a class="code" href="namespacecollision_1_1solvers_1_1solver_f_c_l.html#a6365598dddf22cfab54e0e0db1cfd1b9">solvers::solverFCL::collide_obj_shape_group</a>;</div><div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;  m_collide_bool_function[<a class="code" href="namespacecollision.html#a450ba6ce42e02aa75e1a94fcbddae149a936019eb52955ff805c334940d9bcd2a">OBJ_TYPE_AABB_BOX</a>][<a class="code" href="namespacecollision.html#a450ba6ce42e02aa75e1a94fcbddae149a428d2447cb3275b81b4b7b0a6c0f941b">OBJ_TYPE_TVOBSTACLE</a>] =</div><div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;      <a class="code" href="namespacecollision_1_1solvers_1_1solver_f_c_l.html#a073614665556bee11431dc58c7cf5de2">solvers::solverFCL::collide_obj_tvobst</a>;</div><div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;</div><div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;  m_collide_bool_function[<a class="code" href="namespacecollision.html#a450ba6ce42e02aa75e1a94fcbddae149ad8e57227114a34d492946ad9eb41fa30">OBJ_TYPE_OBB_BOX</a>][<a class="code" href="namespacecollision.html#a450ba6ce42e02aa75e1a94fcbddae149a936019eb52955ff805c334940d9bcd2a">OBJ_TYPE_AABB_BOX</a>] =</div><div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;      <a class="code" href="namespacecollision_1_1solvers_1_1solver_primitive.html#af6eb66a691d9b49017d55da9e9325bba">solvers::solverPrimitive::collide_obb_aabb</a>;</div><div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;  m_collide_bool_function[<a class="code" href="namespacecollision.html#a450ba6ce42e02aa75e1a94fcbddae149ad8e57227114a34d492946ad9eb41fa30">OBJ_TYPE_OBB_BOX</a>][<a class="code" href="namespacecollision.html#a450ba6ce42e02aa75e1a94fcbddae149ad8e57227114a34d492946ad9eb41fa30">OBJ_TYPE_OBB_BOX</a>] =</div><div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;      <a class="code" href="namespacecollision_1_1solvers_1_1solver_primitive.html#a0c6109fa60e432cb36ea1296f2a7ab75">solvers::solverPrimitive::collide_obb_obb</a>;</div><div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;  m_collide_bool_function[<a class="code" href="namespacecollision.html#a450ba6ce42e02aa75e1a94fcbddae149ad8e57227114a34d492946ad9eb41fa30">OBJ_TYPE_OBB_BOX</a>][<a class="code" href="namespacecollision.html#a450ba6ce42e02aa75e1a94fcbddae149a68f8056a19baa4641b9794f471d6a562">OBJ_TYPE_SPHERE</a>] =</div><div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;      <a class="code" href="namespacecollision_1_1solvers_1_1solver_f_c_l.html#a6ec70f21c92f8e87e0efa365d9ccd93b">solvers::solverFCL::collide_obj_obj</a>;</div><div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;  m_collide_bool_function[<a class="code" href="namespacecollision.html#a450ba6ce42e02aa75e1a94fcbddae149ad8e57227114a34d492946ad9eb41fa30">OBJ_TYPE_OBB_BOX</a>][<a class="code" href="namespacecollision.html#a450ba6ce42e02aa75e1a94fcbddae149a1dad22e6bed070f46485602bb316c3ba">OBJ_TYPE_TRIANGLE</a>] =</div><div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;      <a class="code" href="namespacecollision_1_1solvers_1_1solver_f_c_l.html#a6ec70f21c92f8e87e0efa365d9ccd93b">solvers::solverFCL::collide_obj_obj</a>;</div><div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;  m_collide_bool_function[<a class="code" href="namespacecollision.html#a450ba6ce42e02aa75e1a94fcbddae149ad8e57227114a34d492946ad9eb41fa30">OBJ_TYPE_OBB_BOX</a>][<a class="code" href="namespacecollision.html#a450ba6ce42e02aa75e1a94fcbddae149a1d41d4535feebb1512930a79cf9c097a">OBJ_TYPE_POINT</a>] =</div><div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;      <a class="code" href="namespacecollision_1_1solvers_1_1solver_f_c_l.html#a6ec70f21c92f8e87e0efa365d9ccd93b">solvers::solverFCL::collide_obj_obj</a>;</div><div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;  m_collide_bool_function[<a class="code" href="namespacecollision.html#a450ba6ce42e02aa75e1a94fcbddae149ad8e57227114a34d492946ad9eb41fa30">OBJ_TYPE_OBB_BOX</a>][<a class="code" href="namespacecollision.html#a450ba6ce42e02aa75e1a94fcbddae149a3077eb48bb098e9e6961c790903c2759">OBJ_TYPE_POLYGON</a>] =</div><div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;      <a class="code" href="namespacecollision_1_1solvers_1_1solver_f_c_l.html#a6ec70f21c92f8e87e0efa365d9ccd93b">solvers::solverFCL::collide_obj_obj</a>;</div><div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;  m_collide_bool_function[<a class="code" href="namespacecollision.html#a450ba6ce42e02aa75e1a94fcbddae149ad8e57227114a34d492946ad9eb41fa30">OBJ_TYPE_OBB_BOX</a>][<a class="code" href="namespacecollision.html#a450ba6ce42e02aa75e1a94fcbddae149a40b6ff42a2e8947664fc0f2d94f030d7">OBJ_TYPE_SHAPEGROUP</a>] =</div><div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160; 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     <a class="code" href="namespacecollision_1_1solvers_1_1solver_f_c_l.html#a6ec70f21c92f8e87e0efa365d9ccd93b">solvers::solverFCL::collide_obj_obj</a>;</div><div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;  m_collide_bool_function[<a class="code" href="namespacecollision.html#a450ba6ce42e02aa75e1a94fcbddae149a68f8056a19baa4641b9794f471d6a562">OBJ_TYPE_SPHERE</a>][<a class="code" href="namespacecollision.html#a450ba6ce42e02aa75e1a94fcbddae149ad8e57227114a34d492946ad9eb41fa30">OBJ_TYPE_OBB_BOX</a>] =</div><div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;      <a class="code" href="namespacecollision_1_1solvers_1_1solver_f_c_l.html#a6ec70f21c92f8e87e0efa365d9ccd93b">solvers::solverFCL::collide_obj_obj</a>;</div><div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;  m_collide_bool_function[<a class="code" href="namespacecollision.html#a450ba6ce42e02aa75e1a94fcbddae149a68f8056a19baa4641b9794f471d6a562">OBJ_TYPE_SPHERE</a>][<a class="code" href="namespacecollision.html#a450ba6ce42e02aa75e1a94fcbddae149a68f8056a19baa4641b9794f471d6a562">OBJ_TYPE_SPHERE</a>] =</div><div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;      <a class="code" href="namespacecollision_1_1solvers_1_1solver_f_c_l.html#a6ec70f21c92f8e87e0efa365d9ccd93b">solvers::solverFCL::collide_obj_obj</a>;</div><div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;  m_collide_bool_function[<a class="code" href="namespacecollision.html#a450ba6ce42e02aa75e1a94fcbddae149a68f8056a19baa4641b9794f471d6a562">OBJ_TYPE_SPHERE</a>][<a class="code" href="namespacecollision.html#a450ba6ce42e02aa75e1a94fcbddae149a1dad22e6bed070f46485602bb316c3ba">OBJ_TYPE_TRIANGLE</a>] =</div><div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;      <a class="code" href="namespacecollision_1_1solvers_1_1solver_f_c_l.html#a6ec70f21c92f8e87e0efa365d9ccd93b">solvers::solverFCL::collide_obj_obj</a>;</div><div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;  m_collide_bool_function[<a class="code" href="namespacecollision.html#a450ba6ce42e02aa75e1a94fcbddae149a68f8056a19baa4641b9794f471d6a562">OBJ_TYPE_SPHERE</a>][<a class="code" href="namespacecollision.html#a450ba6ce42e02aa75e1a94fcbddae149a1d41d4535feebb1512930a79cf9c097a">OBJ_TYPE_POINT</a>] =</div><div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160; 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     <a class="code" href="namespacecollision_1_1solvers_1_1solver_f_c_l.html#a6365598dddf22cfab54e0e0db1cfd1b9">solvers::solverFCL::collide_obj_shape_group</a>;</div><div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;  m_collide_bool_function[<a class="code" href="namespacecollision.html#a450ba6ce42e02aa75e1a94fcbddae149a68f8056a19baa4641b9794f471d6a562">OBJ_TYPE_SPHERE</a>][<a class="code" href="namespacecollision.html#a450ba6ce42e02aa75e1a94fcbddae149a428d2447cb3275b81b4b7b0a6c0f941b">OBJ_TYPE_TVOBSTACLE</a>] =</div><div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;      <a class="code" href="namespacecollision_1_1solvers_1_1solver_f_c_l.html#a073614665556bee11431dc58c7cf5de2">solvers::solverFCL::collide_obj_tvobst</a>;</div><div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;</div><div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;  m_collide_bool_function[<a class="code" href="namespacecollision.html#a450ba6ce42e02aa75e1a94fcbddae149a1dad22e6bed070f46485602bb316c3ba">OBJ_TYPE_TRIANGLE</a>][<a class="code" href="namespacecollision.html#a450ba6ce42e02aa75e1a94fcbddae149a936019eb52955ff805c334940d9bcd2a">OBJ_TYPE_AABB_BOX</a>] =</div><div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;      <a class="code" href="namespacecollision_1_1solvers_1_1solver_f_c_l.html#a6ec70f21c92f8e87e0efa365d9ccd93b">solvers::solverFCL::collide_obj_obj</a>;</div><div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;  m_collide_bool_function[<a class="code" href="namespacecollision.html#a450ba6ce42e02aa75e1a94fcbddae149a1dad22e6bed070f46485602bb316c3ba">OBJ_TYPE_TRIANGLE</a>][<a class="code" href="namespacecollision.html#a450ba6ce42e02aa75e1a94fcbddae149ad8e57227114a34d492946ad9eb41fa30">OBJ_TYPE_OBB_BOX</a>] =</div><div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;      <a class="code" href="namespacecollision_1_1solvers_1_1solver_f_c_l.html#a6ec70f21c92f8e87e0efa365d9ccd93b">solvers::solverFCL::collide_obj_obj</a>;</div><div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;  m_collide_bool_function[<a class="code" href="namespacecollision.html#a450ba6ce42e02aa75e1a94fcbddae149a1dad22e6bed070f46485602bb316c3ba">OBJ_TYPE_TRIANGLE</a>][<a class="code" href="namespacecollision.html#a450ba6ce42e02aa75e1a94fcbddae149a68f8056a19baa4641b9794f471d6a562">OBJ_TYPE_SPHERE</a>] =</div><div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;      <a class="code" href="namespacecollision_1_1solvers_1_1solver_f_c_l.html#a6ec70f21c92f8e87e0efa365d9ccd93b">solvers::solverFCL::collide_obj_obj</a>;</div><div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;  m_collide_bool_function[<a class="code" href="namespacecollision.html#a450ba6ce42e02aa75e1a94fcbddae149a1dad22e6bed070f46485602bb316c3ba">OBJ_TYPE_TRIANGLE</a>][<a class="code" href="namespacecollision.html#a450ba6ce42e02aa75e1a94fcbddae149a1dad22e6bed070f46485602bb316c3ba">OBJ_TYPE_TRIANGLE</a>] =</div><div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;      <a class="code" href="namespacecollision_1_1solvers_1_1solver_f_c_l.html#a6ec70f21c92f8e87e0efa365d9ccd93b">solvers::solverFCL::collide_obj_obj</a>;</div><div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;  m_collide_bool_function[<a class="code" href="namespacecollision.html#a450ba6ce42e02aa75e1a94fcbddae149a1dad22e6bed070f46485602bb316c3ba">OBJ_TYPE_TRIANGLE</a>][<a class="code" href="namespacecollision.html#a450ba6ce42e02aa75e1a94fcbddae149a1d41d4535feebb1512930a79cf9c097a">OBJ_TYPE_POINT</a>] =</div><div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;      <a class="code" href="namespacecollision_1_1solvers_1_1solver_f_c_l.html#a6ec70f21c92f8e87e0efa365d9ccd93b">solvers::solverFCL::collide_obj_obj</a>;</div><div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;  m_collide_bool_function[<a class="code" href="namespacecollision.html#a450ba6ce42e02aa75e1a94fcbddae149a1dad22e6bed070f46485602bb316c3ba">OBJ_TYPE_TRIANGLE</a>][<a class="code" href="namespacecollision.html#a450ba6ce42e02aa75e1a94fcbddae149a3077eb48bb098e9e6961c790903c2759">OBJ_TYPE_POLYGON</a>] =</div><div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160;      <a class="code" href="namespacecollision_1_1solvers_1_1solver_f_c_l.html#a6ec70f21c92f8e87e0efa365d9ccd93b">solvers::solverFCL::collide_obj_obj</a>;</div><div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;  m_collide_bool_function[<a class="code" href="namespacecollision.html#a450ba6ce42e02aa75e1a94fcbddae149a1dad22e6bed070f46485602bb316c3ba">OBJ_TYPE_TRIANGLE</a>][<a class="code" href="namespacecollision.html#a450ba6ce42e02aa75e1a94fcbddae149a40b6ff42a2e8947664fc0f2d94f030d7">OBJ_TYPE_SHAPEGROUP</a>] =</div><div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;      <a class="code" href="namespacecollision_1_1solvers_1_1solver_f_c_l.html#a6365598dddf22cfab54e0e0db1cfd1b9">solvers::solverFCL::collide_obj_shape_group</a>;</div><div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;  m_collide_bool_function[<a class="code" href="namespacecollision.html#a450ba6ce42e02aa75e1a94fcbddae149a1dad22e6bed070f46485602bb316c3ba">OBJ_TYPE_TRIANGLE</a>][<a class="code" href="namespacecollision.html#a450ba6ce42e02aa75e1a94fcbddae149a428d2447cb3275b81b4b7b0a6c0f941b">OBJ_TYPE_TVOBSTACLE</a>] =</div><div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;      <a class="code" href="namespacecollision_1_1solvers_1_1solver_f_c_l.html#a073614665556bee11431dc58c7cf5de2">solvers::solverFCL::collide_obj_tvobst</a>;</div><div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;</div><div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;  m_collide_bool_function[<a class="code" href="namespacecollision.html#a450ba6ce42e02aa75e1a94fcbddae149a1d41d4535feebb1512930a79cf9c097a">OBJ_TYPE_POINT</a>][<a class="code" href="namespacecollision.html#a450ba6ce42e02aa75e1a94fcbddae149a936019eb52955ff805c334940d9bcd2a">OBJ_TYPE_AABB_BOX</a>] =</div><div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;      <a class="code" href="namespacecollision_1_1solvers_1_1solver_primitive.html#ace78c76c33ef39340dbf39bc1d529c4d">solvers::solverPrimitive::collide_point_aabb</a>;</div><div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160;  m_collide_bool_function[<a class="code" href="namespacecollision.html#a450ba6ce42e02aa75e1a94fcbddae149a1d41d4535feebb1512930a79cf9c097a">OBJ_TYPE_POINT</a>][<a class="code" href="namespacecollision.html#a450ba6ce42e02aa75e1a94fcbddae149ad8e57227114a34d492946ad9eb41fa30">OBJ_TYPE_OBB_BOX</a>] =</div><div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;      <a class="code" href="namespacecollision_1_1solvers_1_1solver_f_c_l.html#a6ec70f21c92f8e87e0efa365d9ccd93b">solvers::solverFCL::collide_obj_obj</a>;</div><div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;  m_collide_bool_function[<a class="code" href="namespacecollision.html#a450ba6ce42e02aa75e1a94fcbddae149a1d41d4535feebb1512930a79cf9c097a">OBJ_TYPE_POINT</a>][<a class="code" href="namespacecollision.html#a450ba6ce42e02aa75e1a94fcbddae149a68f8056a19baa4641b9794f471d6a562">OBJ_TYPE_SPHERE</a>] =</div><div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160;      <a class="code" href="namespacecollision_1_1solvers_1_1solver_primitive.html#a9af810bfbc4d405cf694890b88c2598d">solvers::solverPrimitive::collide_point_sphere</a>;</div><div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160;  m_collide_bool_function[<a class="code" href="namespacecollision.html#a450ba6ce42e02aa75e1a94fcbddae149a1d41d4535feebb1512930a79cf9c097a">OBJ_TYPE_POINT</a>][<a class="code" href="namespacecollision.html#a450ba6ce42e02aa75e1a94fcbddae149a1dad22e6bed070f46485602bb316c3ba">OBJ_TYPE_TRIANGLE</a>] =</div><div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160;      <a class="code" href="namespacecollision_1_1solvers_1_1solver_f_c_l.html#a6ec70f21c92f8e87e0efa365d9ccd93b">solvers::solverFCL::collide_obj_obj</a>;</div><div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;  m_collide_bool_function[<a class="code" href="namespacecollision.html#a450ba6ce42e02aa75e1a94fcbddae149a1d41d4535feebb1512930a79cf9c097a">OBJ_TYPE_POINT</a>][<a class="code" href="namespacecollision.html#a450ba6ce42e02aa75e1a94fcbddae149a1d41d4535feebb1512930a79cf9c097a">OBJ_TYPE_POINT</a>] =</div><div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160; 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     <a class="code" href="namespacecollision_1_1solvers_1_1solver_f_c_l.html#a6365598dddf22cfab54e0e0db1cfd1b9">solvers::solverFCL::collide_obj_shape_group</a>;</div><div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;  m_collide_bool_function[<a class="code" href="namespacecollision.html#a450ba6ce42e02aa75e1a94fcbddae149a1d41d4535feebb1512930a79cf9c097a">OBJ_TYPE_POINT</a>][<a class="code" href="namespacecollision.html#a450ba6ce42e02aa75e1a94fcbddae149a428d2447cb3275b81b4b7b0a6c0f941b">OBJ_TYPE_TVOBSTACLE</a>] =</div><div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160;      <a class="code" href="namespacecollision_1_1solvers_1_1solver_f_c_l.html#a073614665556bee11431dc58c7cf5de2">solvers::solverFCL::collide_obj_tvobst</a>;</div><div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160;</div><div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160;  m_collide_bool_function[<a class="code" href="namespacecollision.html#a450ba6ce42e02aa75e1a94fcbddae149a3077eb48bb098e9e6961c790903c2759">OBJ_TYPE_POLYGON</a>][<a class="code" href="namespacecollision.html#a450ba6ce42e02aa75e1a94fcbddae149a936019eb52955ff805c334940d9bcd2a">OBJ_TYPE_AABB_BOX</a>] =</div><div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160; 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     <a class="code" href="namespacecollision_1_1solvers_1_1solver_f_c_l.html#a6ec70f21c92f8e87e0efa365d9ccd93b">solvers::solverFCL::collide_obj_obj</a>;</div><div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160;  m_collide_bool_function[<a class="code" href="namespacecollision.html#a450ba6ce42e02aa75e1a94fcbddae149a3077eb48bb098e9e6961c790903c2759">OBJ_TYPE_POLYGON</a>][<a class="code" href="namespacecollision.html#a450ba6ce42e02aa75e1a94fcbddae149a1dad22e6bed070f46485602bb316c3ba">OBJ_TYPE_TRIANGLE</a>] =</div><div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160;      <a class="code" href="namespacecollision_1_1solvers_1_1solver_f_c_l.html#a6ec70f21c92f8e87e0efa365d9ccd93b">solvers::solverFCL::collide_obj_obj</a>;</div><div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160;  m_collide_bool_function[<a class="code" href="namespacecollision.html#a450ba6ce42e02aa75e1a94fcbddae149a3077eb48bb098e9e6961c790903c2759">OBJ_TYPE_POLYGON</a>][<a class="code" href="namespacecollision.html#a450ba6ce42e02aa75e1a94fcbddae149a1d41d4535feebb1512930a79cf9c097a">OBJ_TYPE_POINT</a>] =</div><div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160; 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     <a class="code" href="namespacecollision_1_1solvers_1_1solver_f_c_l.html#a877b7ace161e59b0e86e58c13b5e7dde">solvers::solverFCL::collide_shape_group_shape_group</a>;</div><div class="line"><a name="l00212"></a><span class="lineno">  212</span>&#160;  m_collide_bool_function[<a class="code" href="namespacecollision.html#a450ba6ce42e02aa75e1a94fcbddae149a40b6ff42a2e8947664fc0f2d94f030d7">OBJ_TYPE_SHAPEGROUP</a>][<a class="code" href="namespacecollision.html#a450ba6ce42e02aa75e1a94fcbddae149a428d2447cb3275b81b4b7b0a6c0f941b">OBJ_TYPE_TVOBSTACLE</a>] =</div><div class="line"><a name="l00213"></a><span class="lineno">  213</span>&#160;      <a class="code" href="namespacecollision_1_1solvers_1_1solver_f_c_l.html#a073614665556bee11431dc58c7cf5de2">solvers::solverFCL::collide_obj_tvobst</a>;</div><div class="line"><a name="l00214"></a><span class="lineno">  214</span>&#160;</div><div class="line"><a name="l00215"></a><span class="lineno">  215</span>&#160;  m_collide_bool_function[<a class="code" href="namespacecollision.html#a450ba6ce42e02aa75e1a94fcbddae149a428d2447cb3275b81b4b7b0a6c0f941b">OBJ_TYPE_TVOBSTACLE</a>][<a class="code" href="namespacecollision.html#a450ba6ce42e02aa75e1a94fcbddae149a936019eb52955ff805c334940d9bcd2a">OBJ_TYPE_AABB_BOX</a>] =</div><div class="line"><a name="l00216"></a><span class="lineno">  216</span>&#160; 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<div class="ttc" id="classcollision_1_1solvers_1_1_default_solver_html"><div class="ttname"><a href="classcollision_1_1solvers_1_1_default_solver.html">collision::solvers::DefaultSolver</a></div><div class="ttdef"><b>Definition:</b> <a href="collision__solvers_8h_source.html#l00013">collision_solvers.h:13</a></div></div>
<div class="ttc" id="classcollision_1_1solvers_1_1_collision_function_matrix_html_aed8a3913944cbf6eab6bdeb89eaa6bc5"><div class="ttname"><a href="classcollision_1_1solvers_1_1_collision_function_matrix.html#aed8a3913944cbf6eab6bdeb89eaa6bc5">collision::solvers::CollisionFunctionMatrix::getSolverBoolFunction</a></div><div class="ttdeci">collide_bool_func_t getSolverBoolFunction(CollisionObjectType obj1_type, CollisionObjectType obj2_type) const</div><div class="ttdef"><b>Definition:</b> <a href="collision__solvers_8h_source.html#l00026">collision_solvers.h:26</a></div></div>
<div class="ttc" id="namespacecollision_1_1solvers_1_1solver_primitive_html_ace78c76c33ef39340dbf39bc1d529c4d"><div class="ttname"><a href="namespacecollision_1_1solvers_1_1solver_primitive.html#ace78c76c33ef39340dbf39bc1d529c4d">collision::solvers::solverPrimitive::collide_point_aabb</a></div><div class="ttdeci">std::size_t collide_point_aabb(const CollisionObject &amp;obj1, const CollisionObject &amp;obj2, CollisionResult &amp;res, const CollisionRequest &amp;req)</div><div class="ttdef"><b>Definition:</b> <a href="collision__solver__primitive_8cc_source.html#l00203">collision_solver_primitive.cc:203</a></div></div>
<div class="ttc" id="namespacecollision_1_1solvers_1_1solver_f_c_l_html_a013436ecb618581ba74602cbdc2d4829"><div class="ttname"><a href="namespacecollision_1_1solvers_1_1solver_f_c_l.html#a013436ecb618581ba74602cbdc2d4829">collision::solvers::solverFCL::collide_tvobst_tvobst</a></div><div class="ttdeci">std::size_t collide_tvobst_tvobst(const CollisionObject &amp;obj1, const CollisionObject &amp;obj2, CollisionResult &amp;res, const CollisionRequest &amp;req)</div><div class="ttdef"><b>Definition:</b> <a href="collision__solver__fcl_8cc_source.html#l00099">collision_solver_fcl.cc:99</a></div></div>
<div class="ttc" id="classcollision_1_1_time_variant_collision_object_html"><div class="ttname"><a href="classcollision_1_1_time_variant_collision_object.html">collision::TimeVariantCollisionObject</a></div><div class="ttdoc">TimeVariantCollisionObject can contain a different CollisionObject or ShapeGroup at each time step.</div><div class="ttdef"><b>Definition:</b> <a href="time__variant__collision__object_8h_source.html#l00021">time_variant_collision_object.h:21</a></div></div>
<div class="ttc" id="namespacecollision_html_a6e97ae92656250cd1667b6a73100843fa423bdf5f1930e0fe19325bed802a3ff0"><div class="ttname"><a href="namespacecollision.html#a6e97ae92656250cd1667b6a73100843fa423bdf5f1930e0fe19325bed802a3ff0">collision::OBJ_CLASS_TVOBSTACLE</a></div><div class="ttdef"><b>Definition:</b> <a href="collision__object__types_8h_source.html#l00011">collision_object_types.h:11</a></div></div>
<div class="ttc" id="classcollision_1_1_time_variant_collision_object_html_ae14bb4f90bffb5804b389f27300c1c4f"><div class="ttname"><a href="classcollision_1_1_time_variant_collision_object.html#ae14bb4f90bffb5804b389f27300c1c4f">collision::TimeVariantCollisionObject::time_end_idx</a></div><div class="ttdeci">int time_end_idx() const</div><div class="ttdef"><b>Definition:</b> <a href="time__variant__collision__object_8cc_source.html#l00046">time_variant_collision_object.cc:46</a></div></div>
<div class="ttc" id="collision__solvers_8h_html"><div class="ttname"><a href="collision__solvers_8h.html">collision_solvers.h</a></div></div>
<div class="ttc" id="namespacecollision_1_1solvers_1_1solver_default_html_aa9999089e2a0ac19cb17d85d8d148f72"><div class="ttname"><a href="namespacecollision_1_1solvers_1_1solver_default.html#aa9999089e2a0ac19cb17d85d8d148f72">collision::solvers::solverDefault::collide_tvobst_obj</a></div><div class="ttdeci">std::size_t collide_tvobst_obj(const CollisionObject &amp;obj1, const CollisionObject &amp;obj2, CollisionResult &amp;res, const CollisionRequest &amp;req)</div><div class="ttdef"><b>Definition:</b> <a href="collision__solver__default_8cc_source.html#l00012">collision_solver_default.cc:12</a></div></div>
<div class="ttc" id="namespacecollision_1_1solvers_1_1solver_primitive_html_af839a01c900e246e518222247aea4835"><div class="ttname"><a href="namespacecollision_1_1solvers_1_1solver_primitive.html#af839a01c900e246e518222247aea4835">collision::solvers::solverPrimitive::collide_sphere_point</a></div><div class="ttdeci">std::size_t collide_sphere_point(const CollisionObject &amp;obj1, const CollisionObject &amp;obj2, CollisionResult &amp;res, const CollisionRequest &amp;req)</div><div class="ttdef"><b>Definition:</b> <a href="collision__solver__primitive_8cc_source.html#l00149">collision_solver_primitive.cc:149</a></div></div>
<div class="ttc" id="namespacecollision_html_a450ba6ce42e02aa75e1a94fcbddae149a1d41d4535feebb1512930a79cf9c097a"><div class="ttname"><a href="namespacecollision.html#a450ba6ce42e02aa75e1a94fcbddae149a1d41d4535feebb1512930a79cf9c097a">collision::OBJ_TYPE_POINT</a></div><div class="ttdef"><b>Definition:</b> <a href="collision__object__types_8h_source.html#l00021">collision_object_types.h:21</a></div></div>
<div class="ttc" id="classcollision_1_1solvers_1_1_collision_function_matrix_html"><div class="ttname"><a href="classcollision_1_1solvers_1_1_collision_function_matrix.html">collision::solvers::CollisionFunctionMatrix</a></div><div class="ttdef"><b>Definition:</b> <a href="collision__solvers_8h_source.html#l00020">collision_solvers.h:20</a></div></div>
<div class="ttc" id="namespacecollision_html_a450ba6ce42e02aa75e1a94fcbddae149a428d2447cb3275b81b4b7b0a6c0f941b"><div class="ttname"><a href="namespacecollision.html#a450ba6ce42e02aa75e1a94fcbddae149a428d2447cb3275b81b4b7b0a6c0f941b">collision::OBJ_TYPE_TVOBSTACLE</a></div><div class="ttdef"><b>Definition:</b> <a href="collision__object__types_8h_source.html#l00025">collision_object_types.h:25</a></div></div>
<div class="ttc" id="namespacecollision_html_a450ba6ce42e02aa75e1a94fcbddae149a3077eb48bb098e9e6961c790903c2759"><div class="ttname"><a href="namespacecollision.html#a450ba6ce42e02aa75e1a94fcbddae149a3077eb48bb098e9e6961c790903c2759">collision::OBJ_TYPE_POLYGON</a></div><div class="ttdef"><b>Definition:</b> <a href="collision__object__types_8h_source.html#l00023">collision_object_types.h:23</a></div></div>
<div class="ttc" id="classcollision_1_1_time_variant_collision_object_html_ae0db5a464e1ce21aa1131955e1bebc8e"><div class="ttname"><a href="classcollision_1_1_time_variant_collision_object.html#ae0db5a464e1ce21aa1131955e1bebc8e">collision::TimeVariantCollisionObject::time_start_idx</a></div><div class="ttdeci">int time_start_idx() const</div><div class="ttdef"><b>Definition:</b> <a href="time__variant__collision__object_8cc_source.html#l00042">time_variant_collision_object.cc:42</a></div></div>
<div class="ttc" id="namespacecollision_1_1solvers_1_1solver_primitive_html_a0f222e3ff9e38ec7cef3809840227192"><div class="ttname"><a href="namespacecollision_1_1solvers_1_1solver_primitive.html#a0f222e3ff9e38ec7cef3809840227192">collision::solvers::solverPrimitive::collide_aabb_aabb</a></div><div class="ttdeci">std::size_t collide_aabb_aabb(const CollisionObject &amp;obj1, const CollisionObject &amp;obj2, CollisionResult &amp;res, const CollisionRequest &amp;req)</div><div class="ttdef"><b>Definition:</b> <a href="collision__solver__primitive_8cc_source.html#l00024">collision_solver_primitive.cc:24</a></div></div>
<div class="ttc" id="classcollision_1_1_collision_result_html_acc22ba66fddc2dfb73d82257fcb30eae"><div class="ttname"><a href="classcollision_1_1_collision_result.html#acc22ba66fddc2dfb73d82257fcb30eae">collision::CollisionResult::collides</a></div><div class="ttdeci">bool collides() const</div><div class="ttdef"><b>Definition:</b> <a href="collision__requests_8h_source.html#l00015">collision_requests.h:15</a></div></div>
<div class="ttc" id="namespacecollision_1_1solvers_1_1solver_f_c_l_html_a877b7ace161e59b0e86e58c13b5e7dde"><div class="ttname"><a href="namespacecollision_1_1solvers_1_1solver_f_c_l.html#a877b7ace161e59b0e86e58c13b5e7dde">collision::solvers::solverFCL::collide_shape_group_shape_group</a></div><div class="ttdeci">std::size_t collide_shape_group_shape_group(const CollisionObject &amp;obj1, const CollisionObject &amp;obj2, CollisionResult &amp;res, const CollisionRequest &amp;req)</div><div class="ttdef"><b>Definition:</b> <a href="collision__solver__fcl_8cc_source.html#l00044">collision_solver_fcl.cc:44</a></div></div>
<div class="ttc" id="namespacecollision_1_1solvers_1_1solver_primitive_html_aaec98d1d0c4c5573a815dcf65b2d7e7a"><div class="ttname"><a href="namespacecollision_1_1solvers_1_1solver_primitive.html#aaec98d1d0c4c5573a815dcf65b2d7e7a">collision::solvers::solverPrimitive::collide_aabb_obb</a></div><div class="ttdeci">std::size_t collide_aabb_obb(const CollisionObject &amp;obj1, const CollisionObject &amp;obj2, CollisionResult &amp;res, const CollisionRequest &amp;req)</div><div class="ttdef"><b>Definition:</b> <a href="collision__solver__primitive_8cc_source.html#l00032">collision_solver_primitive.cc:32</a></div></div>
<div class="ttc" id="namespacecollision_1_1solvers_html_aa45c277e8a95cc61fc35ec67b69c2e53"><div class="ttname"><a href="namespacecollision_1_1solvers.html#aa45c277e8a95cc61fc35ec67b69c2e53">collision::solvers::collide_bool_func_t</a></div><div class="ttdeci">std::size_t(* collide_bool_func_t)(const CollisionObject &amp;obj1, const CollisionObject &amp;obj2, CollisionResult &amp;res, const CollisionRequest &amp;req)</div><div class="ttdef"><b>Definition:</b> <a href="collision__solvers_8h_source.html#l00015">collision_solvers.h:15</a></div></div>
<div class="ttc" id="namespacecollision_html_a405f2c04407997fea529aad88f04ad30"><div class="ttname"><a href="namespacecollision.html#a405f2c04407997fea529aad88f04ad30">collision::CollisionObjectConstPtr</a></div><div class="ttdeci">std::shared_ptr&lt; const CollisionObject &gt; CollisionObjectConstPtr</div><div class="ttdef"><b>Definition:</b> <a href="collision__object_8h_source.html#l00041">collision_object.h:41</a></div></div>
<div class="ttc" id="namespacecollision_html"><div class="ttname"><a href="namespacecollision.html">collision</a></div><div class="ttdef"><b>Definition:</b> <a href="collision__checker_8h_source.html#l00020">collision_checker.h:20</a></div></div>
<div class="ttc" id="namespacecollision_1_1solvers_1_1solver_default_html_a85518edd1bba6e450f933822ae879ce5"><div class="ttname"><a href="namespacecollision_1_1solvers_1_1solver_default.html#a85518edd1bba6e450f933822ae879ce5">collision::solvers::solverDefault::collide_tvobst_tvobst</a></div><div class="ttdeci">std::size_t collide_tvobst_tvobst(const CollisionObject &amp;obj1, const CollisionObject &amp;obj2, CollisionResult &amp;res, const CollisionRequest &amp;req)</div><div class="ttdef"><b>Definition:</b> <a href="collision__solver__default_8cc_source.html#l00053">collision_solver_default.cc:53</a></div></div>
<div class="ttc" id="namespacecollision_html_a450ba6ce42e02aa75e1a94fcbddae149ad8e57227114a34d492946ad9eb41fa30"><div class="ttname"><a href="namespacecollision.html#a450ba6ce42e02aa75e1a94fcbddae149ad8e57227114a34d492946ad9eb41fa30">collision::OBJ_TYPE_OBB_BOX</a></div><div class="ttdef"><b>Definition:</b> <a href="collision__object__types_8h_source.html#l00019">collision_object_types.h:19</a></div></div>
<div class="ttc" id="namespacecollision_1_1solvers_1_1solver_primitive_html_a0c6109fa60e432cb36ea1296f2a7ab75"><div class="ttname"><a href="namespacecollision_1_1solvers_1_1solver_primitive.html#a0c6109fa60e432cb36ea1296f2a7ab75">collision::solvers::solverPrimitive::collide_obb_obb</a></div><div class="ttdeci">std::size_t collide_obb_obb(const CollisionObject &amp;obj1, const CollisionObject &amp;obj2, CollisionResult &amp;res, const CollisionRequest &amp;req)</div><div class="ttdef"><b>Definition:</b> <a href="collision__solver__primitive_8cc_source.html#l00075">collision_solver_primitive.cc:75</a></div></div>
<div class="ttc" id="time__variant__collision__object_8h_html"><div class="ttname"><a href="time__variant__collision__object_8h.html">time_variant_collision_object.h</a></div></div>
<div class="ttc" id="namespacecollision_1_1solvers_1_1solver_primitive_html_af6eb66a691d9b49017d55da9e9325bba"><div class="ttname"><a href="namespacecollision_1_1solvers_1_1solver_primitive.html#af6eb66a691d9b49017d55da9e9325bba">collision::solvers::solverPrimitive::collide_obb_aabb</a></div><div class="ttdeci">std::size_t collide_obb_aabb(const CollisionObject &amp;obj1, const CollisionObject &amp;obj2, CollisionResult &amp;res, const CollisionRequest &amp;req)</div><div class="ttdef"><b>Definition:</b> <a href="collision__solver__primitive_8cc_source.html#l00067">collision_solver_primitive.cc:67</a></div></div>
<div class="ttc" id="classcollision_1_1_collision_request_html"><div class="ttname"><a href="classcollision_1_1_collision_request.html">collision::CollisionRequest</a></div><div class="ttdoc">Universal structure specifying collision request properties.</div><div class="ttdef"><b>Definition:</b> <a href="collision__requests_8h_source.html#l00026">collision_requests.h:26</a></div></div>
<div class="ttc" id="namespacecollision_1_1solvers_1_1solver_primitive_html_a9af810bfbc4d405cf694890b88c2598d"><div class="ttname"><a href="namespacecollision_1_1solvers_1_1solver_primitive.html#a9af810bfbc4d405cf694890b88c2598d">collision::solvers::solverPrimitive::collide_point_sphere</a></div><div class="ttdeci">std::size_t collide_point_sphere(const CollisionObject &amp;obj1, const CollisionObject &amp;obj2, CollisionResult &amp;res, const CollisionRequest &amp;req)</div><div class="ttdef"><b>Definition:</b> <a href="collision__solver__primitive_8cc_source.html#l00220">collision_solver_primitive.cc:220</a></div></div>
<div class="ttc" id="namespacecollision_1_1solvers_1_1solver_f_c_l_html_a6ec70f21c92f8e87e0efa365d9ccd93b"><div class="ttname"><a href="namespacecollision_1_1solvers_1_1solver_f_c_l.html#a6ec70f21c92f8e87e0efa365d9ccd93b">collision::solvers::solverFCL::collide_obj_obj</a></div><div class="ttdeci">std::size_t collide_obj_obj(const CollisionObject &amp;obj1, const CollisionObject &amp;obj2, CollisionResult &amp;res, const CollisionRequest &amp;req)</div><div class="ttdef"><b>Definition:</b> <a href="collision__solver__fcl_8cc_source.html#l00014">collision_solver_fcl.cc:14</a></div></div>
<div class="ttc" id="namespacecollision_1_1solvers_1_1solver_f_c_l_html_a6365598dddf22cfab54e0e0db1cfd1b9"><div class="ttname"><a href="namespacecollision_1_1solvers_1_1solver_f_c_l.html#a6365598dddf22cfab54e0e0db1cfd1b9">collision::solvers::solverFCL::collide_obj_shape_group</a></div><div class="ttdeci">std::size_t collide_obj_shape_group(const CollisionObject &amp;obj1, const CollisionObject &amp;obj2, CollisionResult &amp;res, const CollisionRequest &amp;req)</div><div class="ttdef"><b>Definition:</b> <a href="collision__solver__fcl_8cc_source.html#l00038">collision_solver_fcl.cc:38</a></div></div>
<div class="ttc" id="classcollision_1_1_collision_object_html_a2bc867e40184d64561ceac3f2276f976"><div class="ttname"><a href="classcollision_1_1_collision_object.html#a2bc867e40184d64561ceac3f2276f976">collision::CollisionObject::getCollisionObjectType</a></div><div class="ttdeci">virtual CollisionObjectType getCollisionObjectType() const</div><div class="ttdef"><b>Definition:</b> <a href="collision__object_8h_source.html#l00060">collision_object.h:60</a></div></div>
<div class="ttc" id="namespacecollision_1_1solvers_1_1solver_f_c_l_html_a7991b18962bd557d576c965e1200840a"><div class="ttname"><a href="namespacecollision_1_1solvers_1_1solver_f_c_l.html#a7991b18962bd557d576c965e1200840a">collision::solvers::solverFCL::collide_shape_group_obj</a></div><div class="ttdeci">std::size_t collide_shape_group_obj(const CollisionObject &amp;obj1, const CollisionObject &amp;obj2, CollisionResult &amp;res, const CollisionRequest &amp;req)</div><div class="ttdef"><b>Definition:</b> <a href="collision__solver__fcl_8cc_source.html#l00026">collision_solver_fcl.cc:26</a></div></div>
<div class="ttc" id="namespacecollision_1_1solvers_1_1solver_f_c_l_html_a073614665556bee11431dc58c7cf5de2"><div class="ttname"><a href="namespacecollision_1_1solvers_1_1solver_f_c_l.html#a073614665556bee11431dc58c7cf5de2">collision::solvers::solverFCL::collide_obj_tvobst</a></div><div class="ttdeci">std::size_t collide_obj_tvobst(const CollisionObject &amp;obj1, const CollisionObject &amp;obj2, CollisionResult &amp;res, const CollisionRequest &amp;req)</div><div class="ttdef"><b>Definition:</b> <a href="collision__solver__fcl_8cc_source.html#l00092">collision_solver_fcl.cc:92</a></div></div>
<div class="ttc" id="namespacecollision_1_1solvers_1_1solver_default_html_acffe33ce8406a118b7f99cf780ef78f9"><div class="ttname"><a href="namespacecollision_1_1solvers_1_1solver_default.html#acffe33ce8406a118b7f99cf780ef78f9">collision::solvers::solverDefault::collide_obj_tvobst</a></div><div class="ttdeci">std::size_t collide_obj_tvobst(const CollisionObject &amp;obj1, const CollisionObject &amp;obj2, CollisionResult &amp;res, const CollisionRequest &amp;req)</div><div class="ttdef"><b>Definition:</b> <a href="collision__solver__default_8cc_source.html#l00046">collision_solver_default.cc:46</a></div></div>
<div class="ttc" id="namespacecollision_1_1solvers_1_1solver_primitive_html_afb8512b1cfd3b039c731cc491a696618"><div class="ttname"><a href="namespacecollision_1_1solvers_1_1solver_primitive.html#afb8512b1cfd3b039c731cc491a696618">collision::solvers::solverPrimitive::collide_point_point</a></div><div class="ttdeci">std::size_t collide_point_point(const CollisionObject &amp;obj1, const CollisionObject &amp;obj2, CollisionResult &amp;res, const CollisionRequest &amp;req)</div><div class="ttdef"><b>Definition:</b> <a href="collision__solver__primitive_8cc_source.html#l00237">collision_solver_primitive.cc:237</a></div></div>
<div class="ttc" id="collision__solver__fcl_8h_html"><div class="ttname"><a href="collision__solver__fcl_8h.html">collision_solver_fcl.h</a></div></div>
<div class="ttc" id="classcollision_1_1solvers_1_1_collision_function_matrix_html_a93f619cd9ff12c4c4adaddb6712db248"><div class="ttname"><a href="classcollision_1_1solvers_1_1_collision_function_matrix.html#a93f619cd9ff12c4c4adaddb6712db248">collision::solvers::CollisionFunctionMatrix::CollisionFunctionMatrix</a></div><div class="ttdeci">CollisionFunctionMatrix(const solvers::FCLSolver *solver)</div><div class="ttdef"><b>Definition:</b> <a href="collision__solver__fcl_8cc_source.html#l00139">collision_solver_fcl.cc:139</a></div></div>
<div class="ttc" id="classcollision_1_1_time_variant_collision_object_html_a2262622fbdf0596e4faba5fe344f2358"><div class="ttname"><a href="classcollision_1_1_time_variant_collision_object.html#a2262622fbdf0596e4faba5fe344f2358">collision::TimeVariantCollisionObject::getObstacleAtTime</a></div><div class="ttdeci">CollisionObjectConstPtr getObstacleAtTime(int time_idx) const</div><div class="ttdef"><b>Definition:</b> <a href="time__variant__collision__object_8cc_source.html#l00036">time_variant_collision_object.cc:36</a></div></div>
<div class="ttc" id="namespacecollision_1_1solvers_1_1solver_primitive_html_a694f6630aee81adcf46c9feae7fa54ef"><div class="ttname"><a href="namespacecollision_1_1solvers_1_1solver_primitive.html#a694f6630aee81adcf46c9feae7fa54ef">collision::solvers::solverPrimitive::collide_aabb_point</a></div><div class="ttdeci">std::size_t collide_aabb_point(const CollisionObject &amp;obj1, const CollisionObject &amp;obj2, CollisionResult &amp;res, const CollisionRequest &amp;req)</div><div class="ttdef"><b>Definition:</b> <a href="collision__solver__primitive_8cc_source.html#l00058">collision_solver_primitive.cc:58</a></div></div>
<div class="ttc" id="namespacecollision_html_a450ba6ce42e02aa75e1a94fcbddae149a68f8056a19baa4641b9794f471d6a562"><div class="ttname"><a href="namespacecollision.html#a450ba6ce42e02aa75e1a94fcbddae149a68f8056a19baa4641b9794f471d6a562">collision::OBJ_TYPE_SPHERE</a></div><div class="ttdef"><b>Definition:</b> <a href="collision__object__types_8h_source.html#l00020">collision_object_types.h:20</a></div></div>
<div class="ttc" id="namespacecollision_html_a450ba6ce42e02aa75e1a94fcbddae149a40b6ff42a2e8947664fc0f2d94f030d7"><div class="ttname"><a href="namespacecollision.html#a450ba6ce42e02aa75e1a94fcbddae149a40b6ff42a2e8947664fc0f2d94f030d7">collision::OBJ_TYPE_SHAPEGROUP</a></div><div class="ttdef"><b>Definition:</b> <a href="collision__object__types_8h_source.html#l00024">collision_object_types.h:24</a></div></div>
<div class="ttc" id="classcollision_1_1_collision_object_html"><div class="ttname"><a href="classcollision_1_1_collision_object.html">collision::CollisionObject</a></div><div class="ttdoc">Base class for CollisionObjects and some of their groups.</div><div class="ttdef"><b>Definition:</b> <a href="collision__object_8h_source.html#l00047">collision_object.h:47</a></div></div>
<div class="ttc" id="namespacecollision_1_1solvers_1_1solver_f_c_l_html_ad57b890449de8667a71237ae9f30b6b9"><div class="ttname"><a href="namespacecollision_1_1solvers_1_1solver_f_c_l.html#ad57b890449de8667a71237ae9f30b6b9">collision::solvers::solverFCL::collide_tvobst_obj</a></div><div class="ttdeci">std::size_t collide_tvobst_obj(const CollisionObject &amp;obj1, const CollisionObject &amp;obj2, CollisionResult &amp;res, const CollisionRequest &amp;req)</div><div class="ttdef"><b>Definition:</b> <a href="collision__solver__fcl_8cc_source.html#l00058">collision_solver_fcl.cc:58</a></div></div>
<div class="ttc" id="classcollision_1_1_collision_result_html"><div class="ttname"><a href="classcollision_1_1_collision_result.html">collision::CollisionResult</a></div><div class="ttdoc">Structure holding result for a collision request.</div><div class="ttdef"><b>Definition:</b> <a href="collision__requests_8h_source.html#l00012">collision_requests.h:12</a></div></div>
<div class="ttc" id="namespacecollision_html_a450ba6ce42e02aa75e1a94fcbddae149a1dad22e6bed070f46485602bb316c3ba"><div class="ttname"><a href="namespacecollision.html#a450ba6ce42e02aa75e1a94fcbddae149a1dad22e6bed070f46485602bb316c3ba">collision::OBJ_TYPE_TRIANGLE</a></div><div class="ttdef"><b>Definition:</b> <a href="collision__object__types_8h_source.html#l00022">collision_object_types.h:22</a></div></div>
<div class="ttc" id="collision__solver__primitive_8h_html"><div class="ttname"><a href="collision__solver__primitive_8h.html">collision_solver_primitive.h</a></div></div>
<div class="ttc" id="namespacecollision_html_a9978c0f3203bb70d6676394a4547bc72"><div class="ttname"><a href="namespacecollision.html#a9978c0f3203bb70d6676394a4547bc72">collision::COL_OBJECT_TYPES_COUNT</a></div><div class="ttdeci">constexpr int COL_OBJECT_TYPES_COUNT</div><div class="ttdef"><b>Definition:</b> <a href="collision__object__types_8h_source.html#l00014">collision_object_types.h:14</a></div></div>
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